Active Disturbance Rejection Control of Gait For Coupled System of Biped Robot

Footed robots have a wide range of application scenarios, in bipedal robots have strongly coupled, nonlinear, and complex dynamical systems. In this paper, we use the proper function of the joint angle variation of the lower limb motion of a bipedal robot as the dynamic gait law input of the system, which can better simulate the movement of the robot’s more inadequate limb system. For the representation of the dynamical system obtained based on the Lagrangian method, according to the coupled system decoupling and self-anti-disturbance control theory, this paper derives the decoupling process. The design of the self-anti-disturbance controller to realise the step-stable tracking of the joint angle of the biped robot is similar to the human gait in the presence of sinusoidal and step perturbations. The simulation results verify the validity of the theoretical analysis and provide experimental simulation support and a theoretical basis for the design of decoupling and self-anti-disturbance control of robot lower limb motion.